Merge pull request #324 from Unity-Technologies/dev

Release 0.6.0

Author: LaurieCheers-unity

.github/workflows/pre-commit.yaml

@@ -15,5 +15,6 @@ jobs:
                   python-version: 3.7.x
             - uses: actions/setup-dotnet@v1
               with:
-                  dotnet-version: '3.1.x'
+                  dotnet-version: '6.0.x'
+                  include-prerelease: true
             - uses: pre-commit/action@v2.0.0

.github/workflows/stale.yaml

@@ -0,0 +1,27 @@
+name: 'Stale issue handler'
+on:
+  workflow_dispatch:
+  schedule:
+    - cron: '0 17 * * *' # 17:00 UTC; 10:00 PDT
+
+permissions:
+  issues: write
+
+jobs:
+  stale:
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/stale@v4.0.0
+        id: stale
+        with:
+          stale-issue-label: 'stale'
+          stale-issue-message: 'This issue has been marked stale because it has been open for 14 days with no activity. Please remove the stale label or comment on this issue, or the issue will be automatically closed in the next 14 days.'
+          days-before-stale: 14
+          days-before-pr-stale: -1
+          days-before-close: 14
+          days-before-pr-close: -1
+          exempt-issue-labels: 'blocked,must,should,keep,pinned,work-in-progress,request,announcement'
+          close-issue-message: 'This issue has been marked stale for 14 days and will now be closed. If this issue is still valid, please ping a maintainer.'
+      - name: Print outputs
+        run: echo ${{ join(steps.stale.outputs.*, ',') }}
+        

.pre-commit-config.yaml

@@ -26,7 +26,8 @@ repos:
 
 
     - repo: https://github.com/dotnet/format
-      rev: "7e343070a0355c86f72bdee226b5e19ffcbac931"
+      rev: v5.1.225507
       hooks:
           - id: dotnet-format
+            entry: dotnet-format whitespace
             args: [--folder, --include]

CHANGELOG.md

@@ -6,6 +6,12 @@ The format is based on [Keep a Changelog](http://keepachangelog.com/en/1.0.0/) a
 
 ## Unreleased
 
+Fixed the ROS-Unity Integration tutorial `robo_demo.launch` to be up-to-date with file paths, and updated Pick-and-Place Part 2 ROS Settings screenshot.
+
+Add the [Close Stale Issues](https://github.com/marketplace/actions/close-stale-issues) action
+
+Updated Pick-and-Place scripts for style conformity, updated custom msg formats and made according script and tutorial changes.
+
 ### Upgrade Notes
 
 ### Known Issues
@@ -20,6 +26,10 @@ The format is based on [Keep a Changelog](http://keepachangelog.com/en/1.0.0/) a
 
 ### Fixed
 
+Fixed dotnet format
+
+Fixed Source Destination topic on the ROS side
+
 ## v0.5.1
 
 ### Changed

README.md

@@ -2,7 +2,7 @@
 
 # Unity Robotics Hub
 
-[![Version](https://img.shields.io/github/v/tag/Unity-Technologies/Unity-Robotics-Hub)](https://github.com/Unity-Technologies/Unity-Robotics-Hub/releases)
+<!-- [![Version](https://img.shields.io/github/v/tag/Unity-Technologies/Unity-Robotics-Hub)](https://github.com/Unity-Technologies/Unity-Robotics-Hub/releases) -->
 [![License](https://img.shields.io/badge/license-Apache--2.0-green.svg)](LICENSE.md)
 ![ROS](https://img.shields.io/badge/ros-melodic-brightgreen)
 ![ROS](https://img.shields.io/badge/ros-noetic-brightgreen)
@@ -13,6 +13,12 @@ This is a central repository for tools, tutorials, resources, and documentation
 
 > The contents of this repository are in active development. Its features and API are subject to significant change as development progresses.
 
+---
+
+We're currently working on lots of things! Please take a short moment fill out our [survey](https://unitysoftware.co1.qualtrics.com/jfe/form/SV_0ojVkDVW0nNrHkW) to help us identify what products and packages to build next.
+
+---
+
 ## Introduction
 
 Simulation plays an important role in robotics development, and we’re here to ensure that roboticists can use Unity for these simulations. We're starting off with a set of tools to make it easier to use Unity with existing ROS-based workflows. Try out some of our samples below to get started quickly.
@@ -36,21 +42,22 @@ A robot simulation demonstrating Unity's new physics solver (no ROS dependency).
 
 ### [**New!**] [Navigation 2 SLAM Example](https://github.com/Unity-Technologies/Robotics-Nav2-SLAM-Example)
 
-An example simulation environment, integrated with ROS 2, which enables the exercise of ROS 2's Navigation 2 and slam_toolbox packages using a simulated Turtlebot 3.
+An example simulation environment, integrated with ROS 2 and **[New!] Visualizations**, which enables the exercise of ROS 2's Navigation 2 and slam_toolbox packages using a simulated Turtlebot 3.
 
 ## Documentation
 
 | Tutorial | Description |
 |---|---|
 | [ROS–Unity Integration](tutorials/ros_unity_integration/README.md) | A set of component-level tutorials showing how to set up communication between ROS and Unity |
 | [URDF Importer](tutorials/urdf_importer/urdf_tutorial.md) | Steps on using the Unity package for loading [URDF](http://wiki.ros.org/urdf) files |
+| [**New!**] [Visualizations](https://github.com/Unity-Technologies/ROS-TCP-Connector/blob/main/com.unity.robotics.visualizations/Documentation~/README.md) | Usage instructions for adding visualizations for incoming and outgoing ROS messages |
 
 ## Component Repos
 
 | Repo | Functionality |
 |---|---|
 | [ROS TCP Endpoint](https://github.com/Unity-Technologies/ROS-TCP-Endpoint) | ROS node for sending/receiving messages from Unity |
-| [ROS TCP Connector](https://github.com/Unity-Technologies/ROS-TCP-Connector) | Unity package for sending/receiving messages from ROS |
+| [ROS TCP Connector](https://github.com/Unity-Technologies/ROS-TCP-Connector) | Unity package for sending, receiving, and visualizing messages from ROS |
 | [URDF Importer](https://github.com/Unity-Technologies/URDF-Importer) | Unity package for loading [URDF](http://wiki.ros.org/urdf) files |
 
 
@@ -59,7 +66,8 @@ An example simulation environment, integrated with ROS 2, which enables the exer
 
 ### Blog Posts and Talks
 
-- [**New!**] (August 13, 2021) Advance your robot autonomy with ROS 2 and Unity [blog post](https://blog.unity.com/manufacturing/advance-your-robot-autonomy-with-ros-2-and-unity)
+- [**New!**] (October 4, 2021) Introducing: Unity Robotics Visualizations Package [blog post](https://blog.unity.com/manufacturing/Introducing-Unity-Robotics-Visualizations-Package)
+- (August 13, 2021) Advance your robot autonomy with ROS 2 and Unity [blog post](https://blog.unity.com/manufacturing/advance-your-robot-autonomy-with-ros-2-and-unity)
 - (March 2, 2021) Teaching robots to see with Unity [blog post](https://blogs.unity3d.com/2021/03/02/teaching-robots-to-see-with-unity/)
 - (November 19, 2020) Robotics simulation in Unity is as easy as 1, 2, 3! [blog post](https://blogs.unity3d.com/2020/11/19/robotics-simulation-in-unity-is-as-easy-as-1-2-3/)
 - (November 12, 2020)
@@ -87,13 +95,9 @@ Here’s a peek into what our Physics Team is hard at work on…
 - **Force/Torque Sensor API**. This API will allow users to get the force and torque acting on an articulation body (useful for simulating a force/torque sensor!), as well as to get the motor torque applied by an articulation drive.
 - **Query primitives**. These simple, GameObject-less shapes allow for collision detection without requiring simulation (i.e., without calling Physics.Simulate). This feature will allow users to initialize objects in feasible locations, and can also be used for motion planning.
 
-## [**New!**] ROS 2
+## ROS 2
 ROS2 support is now available! You can get started by following [this tutorial](https://github.com/Unity-Technologies/Unity-Robotics-Hub/blob/main/tutorials/ros_unity_integration/publisher.md).
 
-
-## FAQs
-[FAQs](faq.md)
-
 ## Community and Feedback
 
 The Unity Robotics projects are open-source and we encourage and welcome contributions.
@@ -112,5 +116,8 @@ Robotics team at [unity-robotics@unity3d.com](mailto:unity-robotics@unity3d.com)
 ## Newsletter
 To get notified about new updates and features, [sign up for our newsletter](https://create.unity3d.com/robotics-simulation-newsletter-sign-up)!
 
+## FAQs
+[FAQs](faq.md)
+
 ## License
 [Apache License 2.0](LICENSE)

tutorials/pick_and_place/0_ros_setup.md

@@ -39,7 +39,7 @@ git clone --recurse-submodules https://github.com/Unity-Technologies/Unity-Robot
 1. Start the newly built Docker container:
 
     ```docker
-    docker run -it --rm -p 10000:10000 -p 5005:5005 unity-robotics:pick-and-place /bin/bash
+    docker run -it --rm -p 10000:10000 unity-robotics:pick-and-place /bin/bash
     ```
 
     When this is complete, it will print: `Successfully tagged unity-robotics:pick-and-place`. This console should open into a bash shell at the ROS workspace root, e.g. `root@8d88ed579657:/catkin_ws#`.

tutorials/pick_and_place/2_ros_tcp.md

@@ -47,8 +47,6 @@ To enable communication between Unity and ROS, a TCP endpoint running as a ROS n
 
    In the ROS Message Browser window, click `Browse` next to the ROS message path. Navigate to and select the ROS directory of this cloned repository (`Unity-Robotics-Hub/tutorials/pick_and_place/ROS/`). This window will populate with all msg and srv files found in this directory.
 
-   In the ROS Message Browser window, type in `Scripts/RosMessages` in the text field of Build message path.
-
    ![](img/2_browser.png)
 
    > Note: If any of these ROS directories appear to be empty, you can run the command `git submodule update --init --recursive` to download the packages via Git submodules.
@@ -87,33 +85,30 @@ To enable communication between Unity and ROS, a TCP endpoint running as a ROS n
 
    ```csharp
    public void Publish()
-   {
-      NiryoMoveitJointsMsg sourceDestinationMessage = new NiryoMoveitJointsMsg();
-
-      sourceDestinationMessage.joint_00 = jointArticulationBodies[0].xDrive.target;
-      sourceDestinationMessage.joint_01 = jointArticulationBodies[1].xDrive.target;
-      sourceDestinationMessage.joint_02 = jointArticulationBodies[2].xDrive.target;
-      sourceDestinationMessage.joint_03 = jointArticulationBodies[3].xDrive.target;
-      sourceDestinationMessage.joint_04 = jointArticulationBodies[4].xDrive.target;
-      sourceDestinationMessage.joint_05 = jointArticulationBodies[5].xDrive.target;
-
-      // Pick Pose
-      sourceDestinationMessage.pick_pose = new PoseMsg
-      {
-         position = target.transform.position.To<FLU>(),
-         // The hardcoded x/z angles assure that the gripper is always positioned above the target cube before grasping.
-         orientation = Quaternion.Euler(90, target.transform.eulerAngles.y, 0).To<FLU>()
-      };
-
-      // Place Pose
-      sourceDestinationMessage.place_pose = new PoseMsg
-      {
-         position = targetPlacement.transform.position.To<FLU>(),
-         orientation = pickOrientation.To<FLU>()
-      };
-
-      // Finally send the message to server_endpoint.py running in ROS
-      ros.Send(topicName, sourceDestinationMessage);
+    {
+        var sourceDestinationMessage = new NiryoMoveitJointsMsg();
+
+        for (var i = 0; i < k_NumRobotJoints; i++)
+        {
+            sourceDestinationMessage.joints[i] = m_JointArticulationBodies[i].GetPosition();
+        }
+
+        // Pick Pose
+        sourceDestinationMessage.pick_pose = new PoseMsg
+        {
+            position = m_Target.transform.position.To<FLU>(),
+            orientation = Quaternion.Euler(90, m_Target.transform.eulerAngles.y, 0).To<FLU>()
+        };
+
+        // Place Pose
+        sourceDestinationMessage.place_pose = new PoseMsg
+        {
+            position = m_TargetPlacement.transform.position.To<FLU>(),
+            orientation = m_PickOrientation.To<FLU>()
+        };
+
+        // Finally send the message to server_endpoint.py running in ROS
+        m_Ros.Send(m_TopicName, sourceDestinationMessage);
    }
    ```
 
@@ -142,11 +137,11 @@ To enable communication between Unity and ROS, a TCP endpoint running as a ROS n
 
    - If you are **not** running ROS services in a Docker container, replace the `ROS IP Address` value with the IP address of your ROS machine. Ensure that the `Host Port` is set to `10000`.
 
-   - If you **are** running ROS services in a Docker container, fill `ROS IP Address` with the loopback IP address `127.0.0.1` and the `Override Unity IP Address` as your local machine's IP address. Otherwise, leave the `Override Unity IP Address` field empty.
+   - If you **are** running ROS services in a Docker container, fill `ROS IP Address` with the loopback IP address `127.0.0.1`.
 
    ![](img/2_settings.png)
 
-   Opening the ROS Settings has created a ROSConnectionPrefab in `Assets/Resources` with the user-input settings. When the static `ROSConnection.instance` is referenced in a script, if a `ROSConnection` instance is not already present, the prefab will be instantiated in the Unity scene, and the connection will begin.
+   The other settings can be left as their defaults. Opening the ROS Settings has created a ROSConnectionPrefab in `Assets/Resources` with the user-input settings. When the static `ROSConnection.instance` is referenced in a script, if a `ROSConnection` instance is not already present, the prefab will be instantiated in the Unity scene, and the connection will begin.
 
    > Note: While using the ROS Settings menu is the suggested workflow as of this version, you may still manually create a GameObject with an attached ROSConnection component.
 

tutorials/pick_and_place/3_pick_and_place.md

@@ -31,30 +31,31 @@ Steps covered in this tutorial includes invoking a motion planning service in RO
     ```csharp
     public void PublishJoints()
     {
-        MoverServiceRequest request = new MoverServiceRequest();
+        var request = new MoverServiceRequest();
         request.joints_input = CurrentJointConfig();
 
         // Pick Pose
         request.pick_pose = new PoseMsg
         {
-            position = (target.transform.position + pickPoseOffset).To<FLU>(),
+            position = (m_Target.transform.position + m_PickPoseOffset).To<FLU>(),
+
             // The hardcoded x/z angles assure that the gripper is always positioned above the target cube before grasping.
-            orientation = Quaternion.Euler(90, target.transform.eulerAngles.y, 0).To<FLU>()
+            orientation = Quaternion.Euler(90, m_Target.transform.eulerAngles.y, 0).To<FLU>()
         };
 
         // Place Pose
         request.place_pose = new PoseMsg
         {
-            position = (targetPlacement.transform.position + pickPoseOffset).To<FLU>(),
-            orientation = pickOrientation.To<FLU>()
+            position = (m_TargetPlacement.transform.position + m_PickPoseOffset).To<FLU>(),
+            orientation = m_PickOrientation.To<FLU>()
         };
 
-        ros.SendServiceMessage<MoverServiceResponse>(rosServiceName, request, TrajectoryResponse);
+        m_Ros.SendServiceMessage<MoverServiceResponse>(m_RosServiceName, request, TrajectoryResponse);
     }
 
     void TrajectoryResponse(MoverServiceResponse response)
     {
-        if (response.trajectories != null)
+        if (response.trajectories.Length > 0)
         {
             Debug.Log("Trajectory returned.");
             StartCoroutine(ExecuteTrajectories(response));
@@ -137,12 +138,16 @@ def plan_trajectory(move_group, destination_pose, start_joint_angles):
     move_group.set_start_state(moveit_robot_state)
 
     move_group.set_pose_target(destination_pose)
-    plan = move_group.go(wait=True)
+    plan = move_group.plan()
 
     if not plan:
-        print("RAISE NO PLAN ERROR")
+        exception_str = """
+            Trajectory could not be planned for a destination of {} with starting joint angles {}.
+            Please make sure target and destination are reachable by the robot.
+        """.format(destination_pose, destination_pose)
+        raise Exception(exception_str)
 
-    return move_group.plan()
+    return planCompat(plan)
 ```
 
 > This creates a set of planned trajectories, iterating through a pre-grasp, grasp, pick up, and place set of poses. Finally, this set of trajectories is sent back to Unity.

tutorials/pick_and_place/PickAndPlaceProject/.gitignore

@@ -16,6 +16,7 @@
 # Ignore scripts that are expected to get copied in at some point
 /**/SourceDestinationPublisher.*
 /**/TrajectoryPlanner.*
+/**/RealSimPickAndPlace.*
 
 
 # MemoryCaptures can get excessive in size.